arm_dev
6edb8d39ab
在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态， 使后续任何删除/重构都可回退。 本基线包含： - 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等） - 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接） - 设备契约层 src/arm_interfaces（新增，46 项单测通过） - devices/ 设备选型与品牌清单（新增） - scripts/gen_site_example.py 与由它生成的 config/site.example.yaml 按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。
37 lines
1.0 KiB
Bash
Executable File
37 lines
1.0 KiB
Bash
Executable File
#!/usr/bin/env bash
|
|
# Build Flexiv hardware packages for real robot (after RDK installed to ~/flexiv_install)
|
|
set -eo pipefail
|
|
|
|
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
|
|
cd "$ROOT"
|
|
|
|
if [[ -f "${HOME}/anaconda3/etc/profile.d/conda.sh" ]]; then
|
|
# shellcheck disable=SC1091
|
|
source "${HOME}/anaconda3/etc/profile.d/conda.sh"
|
|
set +u
|
|
conda activate ros_flexiv 2>/dev/null || true
|
|
set -u 2>/dev/null || true
|
|
fi
|
|
|
|
if [[ -z "${ROS_DISTRO:-}" ]]; then
|
|
# shellcheck disable=SC1091
|
|
source /opt/ros/humble/setup.bash 2>/dev/null || source /opt/ros/jazzy/setup.bash 2>/dev/null || true
|
|
fi
|
|
|
|
PREFIX="${HOME}/flexiv_install"
|
|
CMAKE_PREFIX="${PREFIX}"
|
|
if [[ -n "${CONDA_PREFIX:-}" ]]; then
|
|
CMAKE_PREFIX="${PREFIX};${CONDA_PREFIX}"
|
|
fi
|
|
|
|
colcon build --symlink-install --packages-select \
|
|
flexiv_hardware \
|
|
flexiv_msgs \
|
|
flexiv_gripper \
|
|
flexiv_test_nodes \
|
|
flexiv_robot_states_broadcaster \
|
|
flexiv_bringup \
|
|
--cmake-args "-DCMAKE_PREFIX_PATH=${CMAKE_PREFIX}" "$@"
|
|
|
|
echo "Real stack build done. source ${ROOT}/scripts/env.sh"
|